Esp32 with micro ROS tutorial
Table of Content
Esp32 with micro ROS tutorial#
ros2 run micro_ros_setup create_firmware_ws.sh freertos esp32
ros2 run micro_ros_setup configure_firmware.sh int32_publisher --transport serial
ros2 run micro_ros_setup build_firmware.sh
ros2 run micro_ros_setup flash_firmware.sh
agent#
sudo apt install libtinyxml2-dev
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
source install/local_setup.bash
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0
Usage#
Run agent
ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyUSB0
reboot device or reconnect

ros2 topic list
#
/freertos_int32_publisher
/parameter_events
/rosout
ros2 topic echo /freertos_int32_publisher
#
data: 0
---
data: 1
---
data: 2
---
data: 3
#
ros2 topic echo /freertos_int32_publisher
#
data: 0
---
data: 1
---
data: 2
---
data: 3